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kmeans.hpp
/*
* Software License Agreement (BSD License)
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* Point Cloud Library (PCL) - www.pointclouds.org
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* copyright notice, this list of conditions and the following
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* contributors may be used to endorse or promote products derived
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*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* Author : Christian Potthast
* Email : potthast@usc.edu
*
*/
#pragma once
#include <pcl/ml/kmeans.h>
//#include <pcl/common/io.h>
//#include <stdio.h>
//#include <stdlib.h>
//#include <time.h>
namespace pcl {
template <typename PointT>
Kmeans<PointT>::Kmeans() : cluster_field_name_("")
{}
template <typename PointT>
void
Kmeans<PointT>::cluster(std::vector<PointIndices>& clusters)
{
if (!initCompute() || (input_ != 0 && input_->points.empty()) ||
(indices_ != 0 && indices_->empty())) {
clusters.clear();
return;
}
pcl::PointCloud<PointT> point;
std::vector<pcl::PCLPointField> fields;
// if no cluster field name is set, check for X Y Z
if (strcmp(cluster_field_name_.c_str(), "") == 0) {
int x_index = -1;
int y_index = -1;
int z_index = -1;
x_index = pcl::getFieldIndex<PointT>("x", fields);
if (y_index != -1)
y_index = pcl::getFieldIndex<PointT>("y", fields);
if (z_index != -1)
z_index = pcl::getFieldIndex<PointT>("z", fields);
if (x_index == -1 && y_index == -1 && z_index == -1) {
PCL_ERROR("Failed to find match for field 'x y z'\n");
return;
}
PCL_INFO("Use X Y Z as input data\n");
// create input data
/*
for (std::size_t i = 0; i < input_->size (); i++)
{
DataPoint data (3);
data[0] = (*input_)[i].data[0];
}
*/
std::cout << "x index: " << x_index << std::endl;
float x = 0.0;
memcpy(&x, &(*input_)[0] + fields[x_index].offset, sizeof(float));
std::cout << "xxx: " << x << std::endl;
// memcpy (&x, reinterpret_cast<float*> (&(*input_)[0]) + x_index, sizeof
// (float));
// int rgba_index = 1;
// pcl::RGB rgb;
// memcpy (&rgb, reinterpret_cast<const char*>
// (&(*input_)[index_vector[i].cloud_point_index]) + rgba_index, sizeof (RGB));
}
// if cluster field name is set, check if field name is valid
else {
int user_index = pcl::getFieldIndex<PointT>(cluster_field_name_.c_str(), fields);
if (user_index == -1) {
PCL_ERROR("Failed to find match for field '%s'\n", cluster_field_name_.c_str());
return;
}
}
/*
int xyz_index = -1;
pcl::PointCloud <PointT> point;
xyz_index = pcl::getFieldIndex<PointT> ("r", fields);
if (xyz_index == -1 && strcmp (cluster_field_name_.c_str (), "") == 0)
{
PCL_ERROR ("Failed to find match for field '%s'\n", cluster_field_name_.c_str ());
}
std::cout << "index: " << xyz_index << std::endl;
std::string t = pcl::getFieldsList (point);
std::cout << "t: " << t << std::endl;
*/
// std::vector <pcl::PCLPointField> fields;
// pcl::getFieldIndex (*input_, "xyz", fields);
// std::cout << "field: " << fields[xyz_index].count << std::endl;
/*
for (std::size_t i = 0; i < fields[vfh_idx].count; ++i)
{
//vfh.second[i] = point[0].histogram[i];
}
*/
deinitCompute();
}
} // namespace pcl
#define PCL_INSTANTIATE_Kmeans(T) template class PCL_EXPORTS pcl::Kmeans<T>;
pcl::Kmeans
K-means clustering.
Definition kmeans.h:55
pcl::Kmeans::Kmeans
Kmeans(unsigned int num_points, unsigned int num_dimensions)
Empty constructor.
Definition kmeans.hpp:52
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition point_cloud.h:174
pcl::fields
Definition type_traits.h:60
pcl
Definition convolution.h:46
pcl::getFieldIndex
int getFieldIndex(const pcl::PointCloud< PointT > &, const std::string &field_name, std::vector< pcl::PCLPointField > &fields)
Definition io.hpp:52